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Journal Articles Advanced Robotics Year : 2007

Robust Force Control Strategy based on Virtual Environment

Abstract

The main goal of this paper is to present a force control strategy based on the Virtual Environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. We first propose this approach, then we analyze it, and finally we adapt it to a classical external force control scheme. Experimental results with a DELTA fast parallel robot are presented to prove the efficiency of this method.

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lirmm-00139499 , version 1 (31-03-2007)

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Philippe Fraisse, François Pierrot, Pierre Dauchez. Robust Force Control Strategy based on Virtual Environment. Advanced Robotics, 2007, 21, pp.485-498. ⟨10.1163/156855307780132018⟩. ⟨lirmm-00139499⟩
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